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34 icon support online (#35)

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* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* 修复必须两次启动edge后端才有节点生成的bug
新增resources报送

* 新增延迟统计

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
This commit is contained in:
Xuwznln
2025-05-29 20:43:01 +08:00
committed by GitHub
parent bfcb214b53
commit 84944396e9
7 changed files with 399 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files

334
unilabos/ros/nodes/presets/host_node.py
View File

@@ -12,8 +12,14 @@ from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
SerialCommand # type: ignore
from unilabos_msgs.srv import (
ResourceAdd,
ResourceGet,
ResourceDelete,
ResourceUpdate,
ResourceList,
SerialCommand,
) # type: ignore
from unique_identifier_msgs.msg import UUID
from unilabos.registry.registry import lab_registry
@@ -87,6 +93,7 @@ class HostNode(BaseROS2DeviceNode):
self.__class__._instance = self
# 初始化配置
self.server_latest_timestamp = 0.0 #
self.devices_config = devices_config
self.resources_config = resources_config
self.physical_setup_graph = physical_setup_graph
@@ -100,16 +107,32 @@ class HostNode(BaseROS2DeviceNode):
# 创建设备、动作客户端和目标存储
self.devices_names: Dict[str, str] = {device_id: self.namespace} # 存储设备名称和命名空间的映射
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
self.device_machine_names: Dict[str, str] = {device_id: "本地", } # 存储设备ID到机器名称的映射
self.device_machine_names: Dict[str, str] = {
device_id: "本地",
} # 存储设备ID到机器名称的映射
self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型，host的默认写好
"/devices/host_node/create_resource": ActionClient(
self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
self,
lab_registry.ResourceCreateFromOuterEasy,
"/devices/host_node/create_resource",
callback_group=self.callback_group,
),
"/devices/host_node/create_resource_detailed": ActionClient(
self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group
)
self,
lab_registry.ResourceCreateFromOuter,
"/devices/host_node/create_resource_detailed",
callback_group=self.callback_group,
),
"/devices/host_node/test_latency": ActionClient(
self,
lab_registry.EmptyIn,
"/devices/host_node/test_latency",
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._action_value_mappings: Dict[str, Dict] = (
{}
) # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
self._last_discovery_time = 0.0 # 上次设备发现的时间
@@ -123,8 +146,11 @@ class HostNode(BaseROS2DeviceNode):
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
from unilabos.app.mq import mqtt_client
for device_config in lab_registry.obtain_registry_device_info():
mqtt_client.publish_registry(device_config["id"], device_config)
for device_info in lab_registry.obtain_registry_device_info():
mqtt_client.publish_registry(device_info["id"], device_info)
for resource_info in lab_registry.obtain_registry_resource_info():
mqtt_client.publish_registry(resource_info["id"], resource_info)
# 首次发现网络中的设备
self._discover_devices()
@@ -149,21 +175,20 @@ class HostNode(BaseROS2DeviceNode):
].items():
controller_config["update_rate"] = update_rate
self.initialize_controller(controller_id, controller_config)
resources_config.insert(0, {
"id": "host_node",
"name": "host_node",
"parent": None,
"type": "device",
"class": "host_node",
"position": {
"x": 0,
"y": 0,
"z": 0
resources_config.insert(
0,
{
"id": "host_node",
"name": "host_node",
"parent": None,
"type": "device",
"class": "host_node",
"position": {"x": 0, "y": 0, "z": 0},
"config": {},
"data": {},
"children": [],
},
"config": {},
"data": {},
"children": []
})
)
resource_with_parent_name = []
resource_ids_to_instance = {i["id"]: i for i in resources_config}
for res in resources_config:
@@ -189,6 +214,10 @@ class HostNode(BaseROS2DeviceNode):
discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
)
# 添加ping-pong相关属性
self._ping_responses = {} # 存储ping响应
self._ping_lock = threading.Lock()
self.lab_logger().info("[Host Node] Host node initialized.")
HostNode._ready_event.set()
@@ -233,7 +262,7 @@ class HostNode(BaseROS2DeviceNode):
target=self._send_re_register,
args=(sclient,),
daemon=True,
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
).start()
elif device_key not in self._online_devices:
# 设备重新上线
@@ -244,7 +273,7 @@ class HostNode(BaseROS2DeviceNode):
target=self._send_re_register,
args=(sclient,),
daemon=True,
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
).start()
# 检测离线设备
@@ -288,7 +317,7 @@ class HostNode(BaseROS2DeviceNode):
self, action_type, action_id, callback_group=self.callback_group
)
self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
action_name = action_id[len(namespace) + 1:]
action_name = action_id[len(namespace) + 1 :]
edge_device_id = namespace[9:]
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
@@ -301,54 +330,83 @@ class HostNode(BaseROS2DeviceNode):
except Exception as e:
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
def create_resource_detailed(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
def create_resource_detailed(
self,
resources: list["Resource"],
device_ids: list[str],
bind_parent_ids: list[str],
bind_locations: list[Point],
other_calling_params: list[str],
):
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
):
# 这里要求device_id传入必须是edge_device_id
namespace = "/devices/" + device_id
srv_address = f"/srv{namespace}/append_resource"
sclient = self.create_client(SerialCommand, srv_address)
sclient.wait_for_service()
request = SerialCommand.Request()
request.command = json.dumps({
"resource": resource, # 单个/单组 可为 list[list[Resource]]
"namespace": namespace,
"edge_device_id": device_id,
"bind_parent_id": bind_parent_id,
"bind_location": {
"x": bind_location.x,
"y": bind_location.y,
"z": bind_location.z,
request.command = json.dumps(
{
"resource": resource, # 单个/单组 可为 list[list[Resource]]
"namespace": namespace,
"edge_device_id": device_id,
"bind_parent_id": bind_parent_id,
"bind_location": {
"x": bind_location.x,
"y": bind_location.y,
"z": bind_location.z,
},
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
},
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
}, ensure_ascii=False)
ensure_ascii=False,
)
response = sclient.call(request)
pass
pass
def create_resource(self, device_id: str, res_id: str, class_name: str, parent: str, bind_locations: Point, liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], slot_on_deck: int):
init_new_res = initialize_resource({
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
def create_resource(
self,
device_id: str,
res_id: str,
class_name: str,
parent: str,
bind_locations: Point,
liquid_input_slot: list[int],
liquid_type: list[str],
liquid_volume: list[int],
slot_on_deck: int,
):
init_new_res = initialize_resource(
{
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
},
}
}) # flatten的格式
resources = [init_new_res]
device_id = [device_id]
) # flatten的格式
resources = init_new_res # initialize_resource已经返回list[dict]
device_ids = [device_id]
bind_parent_id = [parent]
bind_location = [bind_locations]
other_calling_param = [json.dumps({
"ADD_LIQUID_TYPE": liquid_type,
"LIQUID_VOLUME": liquid_volume,
"LIQUID_INPUT_SLOT": liquid_input_slot,
"initialize_full": False,
"slot": slot_on_deck
})]
other_calling_param = [
json.dumps(
{
"ADD_LIQUID_TYPE": liquid_type,
"LIQUID_VOLUME": liquid_volume,
"LIQUID_INPUT_SLOT": liquid_input_slot,
"initialize_full": False,
"slot": slot_on_deck,
}
)
]
return self.create_resource_detailed(resources, device_id, bind_parent_id, bind_location, other_calling_param)
return self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
"""
@@ -377,7 +435,9 @@ class HostNode(BaseROS2DeviceNode):
if action_id not in self._action_clients:
action_type = action_value_mapping["type"]
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}") # 子设备再创建用的是Discover发现的
self.lab_logger().debug(
f"[Host Node] Created ActionClient (Local): {action_id}"
) # 子设备再创建用的是Discover发现的
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {
@@ -477,7 +537,12 @@ class HostNode(BaseROS2DeviceNode):
)
def send_goal(
self, device_id: str, action_name: str, action_kwargs: Dict[str, Any], goal_uuid: Optional[str] = None
self,
device_id: str,
action_name: str,
action_kwargs: Dict[str, Any],
goal_uuid: Optional[str] = None,
server_info: Optional[Dict[str, Any]] = None,
) -> None:
"""
向设备发送目标请求
@@ -489,6 +554,8 @@ class HostNode(BaseROS2DeviceNode):
goal_uuid: 目标UUID，如果为None则自动生成
"""
action_id = f"/devices/{device_id}/{action_name}"
if action_name == "test_latency" and server_info is not None:
self.server_latest_timestamp = server_info.get("send_timestamp", 0.0)
if action_id not in self._action_clients:
self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
return
@@ -783,3 +850,148 @@ class HostNode(BaseROS2DeviceNode):
# 这里可以实现返回资源列表的逻辑
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
return response
def test_latency(self):
"""
测试网络延迟的action实现
通过5次ping-pong机制校对时间误差并计算实际延迟
"""
import time
import uuid as uuid_module
self.lab_logger().info("=" * 60)
self.lab_logger().info("开始网络延迟测试...")
# 记录任务开始执行的时间
task_start_time = time.time()
# 进行5次ping-pong测试
ping_results = []
for i in range(5):
self.lab_logger().info(f"第{i+1}/5次ping-pong测试...")
# 生成唯一的ping ID
ping_id = str(uuid_module.uuid4())
# 记录发送时间
send_timestamp = time.time()
# 发送ping
from unilabos.app.mq import mqtt_client
mqtt_client.send_ping(ping_id, send_timestamp)
# 等待pong响应
timeout = 10.0
start_wait_time = time.time()
while time.time() - start_wait_time < timeout:
with self._ping_lock:
if ping_id in self._ping_responses:
pong_data = self._ping_responses.pop(ping_id)
break
time.sleep(0.001)
else:
self.lab_logger().error(f"❌ 第{i+1}次测试超时")
continue
# 计算本次测试结果
receive_timestamp = time.time()
client_timestamp = pong_data["client_timestamp"]
server_timestamp = pong_data["server_timestamp"]
# 往返时间
rtt_ms = (receive_timestamp - send_timestamp) * 1000
# 客户端与服务端时间差（客户端时间 - 服务端时间）
# 假设网络延迟对称，取中间点的服务端时间
mid_point_time = send_timestamp + (receive_timestamp - send_timestamp) / 2
time_diff_ms = (mid_point_time - server_timestamp) * 1000
ping_results.append({"rtt_ms": rtt_ms, "time_diff_ms": time_diff_ms})
self.lab_logger().info(f"✅ 第{i+1}次: 往返时间={rtt_ms:.2f}ms, 时间差={time_diff_ms:.2f}ms")
time.sleep(0.1)
if not ping_results:
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
return {"status": "all_timeout"}
# 统计分析
rtts = [r["rtt_ms"] for r in ping_results]
time_diffs = [r["time_diff_ms"] for r in ping_results]
avg_rtt_ms = sum(rtts) / len(rtts)
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
self.lab_logger().info("-" * 50)
self.lab_logger().info("[测试统计]")
self.lab_logger().info(f"有效测试次数: {len(ping_results)}/5")
self.lab_logger().info(f"平均往返时间: {avg_rtt_ms:.2f}ms")
self.lab_logger().info(f"平均时间差: {avg_time_diff_ms:.2f}ms")
self.lab_logger().info(f"时间差范围: {min(time_diffs):.2f}ms ~ {max(time_diffs):.2f}ms")
self.lab_logger().info(f"最大时间误差: ±{max_time_diff_error_ms:.2f}ms")
# 计算任务执行延迟
if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0:
self.lab_logger().info("-" * 50)
self.lab_logger().info("[任务执行延迟分析]")
self.lab_logger().info(f"服务端任务下发时间: {self.server_latest_timestamp:.6f}")
self.lab_logger().info(f"客户端任务开始时间: {task_start_time:.6f}")
# 原始时间差（不考虑时间同步误差）
raw_delay_ms = (task_start_time - self.server_latest_timestamp) * 1000
# 考虑时间同步误差后的延迟（用平均时间差校正）
corrected_delay_ms = raw_delay_ms - avg_time_diff_ms
self.lab_logger().info(f"📊 原始时间差: {raw_delay_ms:.2f}ms")
self.lab_logger().info(f"🔧 时间同步校正: {avg_time_diff_ms:.2f}ms")
self.lab_logger().info(f"⏰ 实际任务延迟: {corrected_delay_ms:.2f}ms")
self.lab_logger().info(f"📏 误差范围: ±{max_time_diff_error_ms:.2f}ms")
# 给出延迟范围
min_delay = corrected_delay_ms - max_time_diff_error_ms
max_delay = corrected_delay_ms + max_time_diff_error_ms
self.lab_logger().info(f"📋 延迟范围: {min_delay:.2f}ms ~ {max_delay:.2f}ms")
else:
self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
corrected_delay_ms = -1
self.lab_logger().info("=" * 60)
return {
"avg_rtt_ms": avg_rtt_ms,
"avg_time_diff_ms": avg_time_diff_ms,
"max_time_error_ms": max_time_diff_error_ms,
"task_delay_ms": corrected_delay_ms if corrected_delay_ms > 0 else -1,
"raw_delay_ms": (
raw_delay_ms if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0 else -1
),
"test_count": len(ping_results),
"status": "success",
}
def handle_pong_response(self, pong_data: dict):
"""
处理pong响应
"""
ping_id = pong_data.get("ping_id")
if ping_id:
with self._ping_lock:
self._ping_responses[ping_id] = pong_data
# 详细信息合并为一条日志
client_timestamp = pong_data.get("client_timestamp", 0)
server_timestamp = pong_data.get("server_timestamp", 0)
current_time = time.time()
self.lab_logger().debug(
f"📨 Pong | ID:{ping_id[:8]}.. | C→S→C: {client_timestamp:.3f}→{server_timestamp:.3f}→{current_time:.3f}"
)
else:
self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")